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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
Apache License 2.0
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Add KR270 R2700 #220

Open ipa-jsk opened 2 years ago

ipa-jsk commented 2 years ago

Adds support for the KR270 R2700. The dimensions are taken from the datasheet of the KR270 R2700 ultra. The inertia parameters are wrong (just copied from KR210, whose are also wrong as stated the respective package.xml). I also kept the joint_state_publisher due to consistency reasons. Anything more to consider?

ipa-jsk commented 1 year ago

Thanks a lot for your contribution and sorry for neglecting it for so long! I added some small things that need improvement to keep packages consistent.

No worries, thanks for your review! I tried to address all comments, please solve the conversations yourself if you agree to the changes.

simonschmeisser commented 1 year ago

In the pdf it's named KR 270 R2700 ultra and when googling I only find a KR 270 R2700 ultra F so I'm wondering if we want to include the ultra?

ipa-jsk commented 1 year ago

@gavanderhoorn @simonschmeisser can you help me on the remaining open questions?